CN103958004B - Be applicable to fire fighting truck that is high-rise and high-rise building fire attack - Google Patents

Be applicable to fire fighting truck that is high-rise and high-rise building fire attack Download PDF

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Publication number
CN103958004B
CN103958004B CN201380004041.1A CN201380004041A CN103958004B CN 103958004 B CN103958004 B CN 103958004B CN 201380004041 A CN201380004041 A CN 201380004041A CN 103958004 B CN103958004 B CN 103958004B
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China
Prior art keywords
fire
extinguisher bomb
module
fire extinguisher
phi
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CN201380004041.1A
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Chinese (zh)
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CN103958004A (en
Inventor
邱旭阳
申研
韩书永
刘浩
秦渊
张学文
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Beijing Machinery Equipment Research Institute
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Beijing Machinery Equipment Research Institute
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Classifications

    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
    • A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
    • A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C27/00—Fire-fighting land vehicles
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • A62C31/28—Accessories for delivery devices, e.g. supports
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C37/00—Control of fire-fighting equipment
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C8/00—Hand tools or accessories specially adapted for fire-fighting, e.g. tool boxes
    • A62C8/005—Receptacles or other utensils for water carrying; Bombs filled with extinguishing agents
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B12/00—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material
    • F42B12/02—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect
    • F42B12/36—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information
    • F42B12/46—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information for dispensing gases, vapours, powders or chemically-reactive substances
    • F42B12/50—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information for dispensing gases, vapours, powders or chemically-reactive substances by dispersion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Abstract

This application discloses a kind of fire fighting truck being applicable to high level and high-rise building fire attack, comprise: carry chassis (1), charge equipment (2), launching control equipment (3), equipment compartment (4), emitter (5), casting device (6), fire extinguisher bomb (7), capstan head control device (8), photoelectric detection equipment (9), wherein, charge equipment (2), launching control equipment (3) is placed in the copilot station of the driver's cabin carrying chassis (1), be bolted to and carry on chassis (1) after equipment compartment (4) is placed in driver's cabin, emitter (5) is placed in a year chassis (1) and goes up and be screwed, casting device (6) is placed in emitter (5) and goes up and fix, fire extinguisher bomb (7) is placed in casting device (6), capstan head control device (8) is distributed in and carries on chassis and emitter, for completing car body leveling and controlling emitter action.

Description

Be applicable to fire fighting truck that is high-rise and high-rise building fire attack
Technical field
The present invention relates to fire-fighting domain, be specifically related to a kind of fire fighting truck being applicable to high level and high-rise building fire attack.
Background technology
Highly be greater than 10 layers or the building that is greater than 24 meters is called as skyscraper, the building being highly greater than 100 meters is referred to as high-rise building, and high-rise and high-rise building fire attack is a difficult problem for fire-fighting domain always.Domestic and international existing fire-fighting equipment is difficult, expensive due to fire extinguishing limited height, Flexible deployment, is difficult to the demand meeting high-rise especially fire fighting of super high-rise building fire extinguishing.
High-rise, high-rise building fire attack generally adopts elevating fire truck and hook and ladder, and at present, the highest fire fighting truck in the world is the rich wave fire fighting truck of Finland, comprising: carry chassis, lifting device, electrical system.This fire fighting truck lift height is 101 meters, and water is sent in a point basic, normal, high district relay, send water height the highest only about 160 meters.This fire fighting truck work deployed condition is wide about 8 meters, vehicle commander 17.13 meters, ride height 4 meters, gross mass 60.2 tons, and the place slightly narrow in a lot of built-up area Yu He street cannot rapid deployment.In addition, this fire fighting truck import price is up to 2,200 ten thousand yuan, and domestic most municipal fire department cannot bear, and only has a few cities equipments such as Beijing, Shanghai, Hangzhou at present.
High-rise building fire extinguishing system can be disposed in the fast reserve of urban environment prevailing roadway for the one high-rise under China's urban environment, the severe situation of super high rise building fire-fighting fire extinguishing is developed, possess high efficiency, high level is put out or suppressed to large area, the special type fire control fire extinguishing system of high-rise building fire, it adopts throws in the mode of fire extinguisher bomb to burning things which may cause a fire disaster target.The input precision of fire extinguisher bomb decides the overall fire-fighting efficiency of high-rise building fire extinguishing system.Existing fire extinguisher bomb ballistic solution method does not use accurate ballistic solution mode, and fire fighter realizes according to the range estimation judgement of the on-the-spot condition of a fire and smell of powder, to specific region " blind ", there is the problem that accuracy at target is not high.When high level, high-rise building fire attack, in order to complete the detection of round-the-clock close-in target, part fire fighting truck is configured with target (burning things which may cause a fire disaster) sniffer, because this device adopts cameras with fixed focus as gun sight, this device exist visual field select number few, can not can not complete the shortcoming of the image co-registration of infrared and white light according to the size adjustment magnification ratio of target.
In addition, carry out in the prior art of fire attack in employing fire extinguisher bomb mode, fire extinguisher bomb generally adopts the mode of central booster, a large amount of high-explosive fragmentations can be produced while spraying fire-extinguishing agent, with certain destructiveness, this kind of fire extinguisher bomb is applicable to forest, oil tank etc. away from densely populated region, high-rise under not being suitable for urban environment condition, high-rise building fire extinguishing.
Summary of the invention
Present inventor considers the above-mentioned situation of prior art and has made the present invention.Main purpose of the present invention is, provides a kind of and is applicable to fire fighting truck that is high-rise and high-rise building fire attack, solves existing fire-fighting equipment fire extinguishing limited height, Flexible deployment difficulty, is difficult to meet problem that is high-rise and high-rise building fire attack demand.
According to embodiments of the invention, provide a kind of fire fighting truck being applicable to high level and high-rise building fire attack, comprise: carry chassis (1), accuse equipment (2), launching control equipment (3), equipment compartment (4), emitter (5), casting device (6), fire extinguisher bomb (7), capstan head control device (8), photoelectric detection equipment (9)
Wherein, charge equipment (2), launching control equipment (3) are placed in the copilot station of the driver's cabin carrying chassis (1),
Be bolted to and carry on chassis (1) after equipment compartment (4) is placed in driver's cabin,
Emitter (5) is placed in a year chassis (1) and goes up and be screwed,
Casting device (6) is placed in emitter (5) and goes up and fix,
Fire extinguisher bomb (7) is placed in casting device (6),
Capstan head control device (8) is distributed in and carries on chassis and emitter, for completing car body leveling and controlling emitter action,
Photoelectric detection equipment (9) is placed in emitter (5) below and is screwed,
Wherein, photoelectric detection equipment (9) comprising: holder housing, power supply, zoom white light camera, infrared camera, range finder using laser, integrated treatment unit,
Zoom white light camera is connected with holder housing by screw, infrared camera is connected with holder housing by screw, range finder using laser is connected with holder housing by screw, the power supply interface of zoom white light camera is connected with power supply by wire, the power supply interface of infrared camera is connected with power supply by wire, the power supply interface of range finder using laser is connected with power supply by wire, the data-interface of zoom white light camera is connected with integrated treatment unit by wire, the data-interface of infrared camera is connected with integrated treatment unit by wire, the data-interface of range finder using laser is connected with integrated treatment unit by wire.
Embodiments of the invention have following major advantage: launch luffing angle and emission rate by regulating fire extinguisher bomb, and carry out Firing data calculation (calculating of fire extinguisher bomb emission angle) in conjunction with ascent stage ballistic data and to put out a fire to save life and property high-rise and high-rise building fire, there is fire extinguishing highly high, precision is high, cost is low, the advantage that reaction time is short, adopt General Motors chassis simultaneously, have the advantages that Flexible deployment is fast, be adapted at urban environment high level and fire fighting of super high-rise building fire extinguishing use, solving present stage can not according to the size adjustment magnification ratio of target, and problem that the is infrared and image co-registration of white light can not be completed.
Accompanying drawing explanation
Fig. 1 is the structural representation of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention;
Fig. 2 is the structural representation of the driver's cabin of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention;
Fig. 3 is the structural representation of the equipment compartment of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention;
Fig. 4 is the structural representation sending out control device of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention;
Fig. 5 is the structural representation of the casting device of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention;
Fig. 6 is the structural representation of the fire extinguisher bomb of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention;
Fig. 7 is the structural representation of the Servocontrol device of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention;
Fig. 8 is the structural representation of the photoelectric detection equipment of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention;
Fig. 9 is the schematic diagram of the functional module of the integrated treatment unit of the photoelectric detection equipment of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention;
Figure 10 is the workflow diagram of the target acquisition (position sensing) of the photoelectric detection equipment of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention;
Figure 11 is the fire extinguisher bomb assembling frame of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention and the schematic diagram of turret system;
Figure 12 is the workflow diagram of the photoelectric detection equipment of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention.
Description of reference numerals
1: carry chassis; 2: accuse equipment; 3: launching control equipment; 4: equipment compartment; 5: emitter; 6: casting device; 7: fire extinguisher bomb; 8: capstan head control device; 9: photoelectric detection equipment;
2-1: indication control board; 2-2: processor; 2-3: communication equipment; 3-1: send out control executive module; 3-2: fire extinguisher bomb simulator;
4-1: generating set; 4-2: for power distribution cabinet; 4-3: Servocontrol device;
5-1: launching rotary tower; 5-2: laugnching lug; 5-3: module assembled frame
7-1: empennage braking section; 7-2: grate; 7-3: igniter; 7-4: housing; 7-5: radome fairing;
7-6: fuse; 7-7: piston; 7-8: combustion chamber; 7-9: extinguishing chemical; 7-10: main charge
Detailed description of the invention
With reference to the accompanying drawings the specific embodiment of the present invention is described.
Fig. 1 is the schematic diagram of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention.As shown in Figure 1, be applicable to a fire fighting truck that is high-rise and high-rise building fire attack, comprise: carry chassis 1, accuse (command & control) equipment 2, send out control (emission control) equipment 3, equipment compartment 4, emitter 5, casting device 6, fire extinguisher bomb 7, capstan head control device 8, photoelectric detection equipment 9.
Wherein, charge equipment 2, launching control equipment 3 are placed in the copilot station of the driver's cabin carrying chassis 1; Be bolted to and carry on chassis 1 after equipment compartment 4 is placed in driver's cabin; Emitter 5 is placed in and carries on chassis 1 and be screwed; Casting device 6 is placed on emitter 5 also fixing; Fire extinguisher bomb 7 is placed in casting device 6; Capstan head control device 8 is distributed in and carries on chassis and emitter, for completing car body leveling and controlling emitter action; Photoelectric detection equipment 9 to be placed in below emitter 5 and to be screwed.
Carry chassis 1 to be made up of general repacking chassis and subframe.Wherein subframe can realize filling the functions such as the connection on other Related product such as equipment compartment, emitter and chassis, and being that on extinguishing vehicle, installing is standby realizes generalization and transplantable critical component.
Charge equipment 2 comprises indication control board 2-1, processor 2-2, communication equipment 2-3.Wherein, indication control board 2-1 can be made up of sheet metal, be arranged on co-driver to be set up, indication control board 2-1 can be provided with launch insurance switch, display, action button, indicator lamp, joystick, panoramic camera etc., and processor 2-2 is connected with indication control board 2-1, communication equipment 2-3.Communication equipment 2-3 is used for operating personnel and write to each other in fire alarm (119) command and control center.Processor 2-2 comprises the functional modules such as integrated management control module, ballistic solution module and communication module.
Launching control equipment 3 forms by sending out control executive module 3-1 and fire extinguisher bomb simulator 3-2.Wherein, send out control executive module 3-1 and control instruction switched and the control appliance exported to emitter 5, it receives the instruction from processor, and completes the emission control task of fire extinguisher bomb.Fire extinguisher bomb simulator 3-2 can use in the extinguishing vehicle training stage, be used for simulation fire extinguisher bomb signal in place and fire extinguisher bomb launch from frame signal.
Equipment compartment 4 inside is made up of generating set 4-1, confession power distribution cabinet 4-2, Servocontrol device 4-3 etc., outside installation communication antenna.Generating set can be made up of diesel engine, generator, this body support frame and battery etc., the not little 7.3kW of power supply general power.Wherein diesel engine is the power source of generating set, and generator is energy conversion, and the mechanical energy that diesel engine exports is converted to electric energy, and battery provides DC control supply for generating set, and during use, generating set has independent fuel tank.Power supplying and distributing equipment is fixedly mounted on the right side of equipment compartment, mainly completes the handover operation to diesel generating set and civil power, the display of electric parameter, distribution and defencive function.
Emitter 5 is made up of launching rotary tower 5-1, laugnching lug 5-2, module assembled frame 5-3.Cable is walked at the inside configuration center of launching rotary tower 5-1.Laugnching lug 5-2 is used for supporting module assembling frame, orientation when having rapid reloading module assembled frame 5-3 and launch.This mechanism not only realizes the locking and unlocking of module assembled frame 5-3, can also coordinate the determination of initial directive with the leg on module assembled frame 5-3.
Casting device 6 mainly comprises impelling cylinder, power set, balanced body etc.Fire extinguisher bomb, power set and balanced body are placed in impelling cylinder inside.Casting device adopts " confined space " to balance lift-off technology, has smokeless, unglazed, micro-sound, recoilless feature.
Fire extinguisher bomb 7 comprises: housing 7-4, fuse 7-6, igniter 7-3, extinguishing chemical 7-9, main charge 7-10, empennage braking section 7-1, combustion chamber 7-8, grate 7-2, piston 7-7, radome fairing 7-5.
Housing 7-4, empennage braking section 7-1 and piston 7-7 can be lightweight metal material, housing 7-4 is cylindric, empennage braking section 7-1 to be placed in bottom housing 7-4 and to be screwed with housing 7-4, grate 7-2 is placed in above empennage braking section 7-1, combustion chamber 7-8 to be placed in above grate 7-2 and to fix with grate 7-2 screw thread, and combustion chamber 7-8 and housing 7-4 is screwed.Piston 7-7 is placed on the 7-8 of combustion chamber, and the external diameter of piston 7-7 and the internal diameter of housing 7-4 match, and there is through hole at piston 7-7 center, and igniter 7-3 is placed in the through hole of piston 7-7 and fixes with combustion chamber 7-8 screw thread, and main charge 7-10 is placed in combustion chamber 7-8.Extinguishing chemical 7-9 is placed in the cavity on piston 7-7 top and is full of whole cavity, and radome fairing 7-5 is placed in housing 7-4 top and fixes with housing 7-4 pin, and there is spray hole on the surface of radome fairing 7-5, and fuse 7-6 to be placed on radome fairing 7-5 and to be screwed.
When fire extinguisher bomb 7 works, when fuse 7-6 detects fire extinguisher bomb from burning things which may cause a fire disaster 5 ~ 10 meters, ignition signal is passed to igniter 7-3, main charge 7-10 in igniter 7-3 ignition combustion room 7-8, main charge 7-10 burns and produces high pressure, pushed at high pressure piston 7-7 moves in housing 7-4, extruding extinguishing chemical 7-9 makes the pin connected between radome fairing 7-5 and housing 7-4 be cut off, extinguishing chemical 7-9 continues to promote radome fairing 7-5 and travels forward, radome fairing 7-5 to housing 7-4 front braking, at this moment spray hole has exposed in atmosphere, and now piston 7-7 continuation promotion extinguishing chemical 7-9 travels forward, extinguishing chemical 7-9 sprays out from spray hole, jump on burning things which may cause a fire disaster, play fire extinguishing function.In the flight sprinkling process of fire extinguisher bomb 7, empennage braking section 7-1 releases a parachute, and fire extinguisher bomb 7 is slowed down, and fire extinguisher bomb 7 penetrates glass curtain wall, gos deep into implementing fire extinguishing in building.
Capstan head control device 8 is made up of capstan head servosystem and car body level device.Capstan head servosystem comprises the parts such as computer for controlling, servo control division equipments, azimuth-drive motor, pitching electric cylinder, orientation read assembly, pitching read assembly, azimuth servomechanism, floating bearing, computer for controlling is provided with servo control module, and orientation read assembly and azimuth servomechanism all engage with the external tooth of floating bearing.
Car body level device selects servo electric jar leveling, and four servo electric jar supporting legs are arranged on carriage chassis subframe respectively, and the servo electric jar of each supporting leg is respectively driven by a motor.Level device can when controlling without processor under manually remove receipts.Level device is by leveling executing agency, and leveling Control Component, horizontal angle measurement assembly, leveling control module forms.Wherein four analog line drivers and computer for controlling are integrated in leveling control rack, and leveling controls rack and is arranged in the middle of equipment control cabinet.Horizontal angle measurement assembly selects obliquity sensor as the levelness detecting element of level device.Horizon sensor feeds back the levelness of car body in the leveling process of extinguishing vehicle, has two.A horizon sensor is main horizon sensor, and cross-car and vertical equity degree are as the criterion with this horizon sensor reading, is arranged on the installed surface on chassis revolution gudgeon crossbeam; Another horizon sensor is auxiliary horizon sensor, is arranged on front leveling cyclinder crossbeam, and in leveling process, the transverse horizontal degree in feedback headstock direction, can avoid extinguishing vehicle to occur headstock tilt phenomenon in leveling process.
Fig. 8 is the schematic diagram of the photoelectric detection equipment 9 of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention.As shown in Figure 8, photoelectric detection equipment 9 comprises: holder housing, power supply, zoom white light camera, infrared camera, range finder using laser, integrated treatment unit.Fig. 9 is the schematic diagram of the functional module of the integrated treatment unit of the photoelectric detection equipment of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention.As shown in Figure 9, integrated treatment unit comprises integrated dispatch module, data memory module, function selftest module, Zoom control module, compensation data module, image co-registration module, image comparison module and angle and resolves module.
Adopt zoom white light camera according to the distance of burning things which may cause a fire disaster and size adjustment focal length in search procedure, can determine the position of burning things which may cause a fire disaster very accurately.
Zoom white light camera is connected with holder housing by screw, infrared camera is connected with holder housing by screw, range finder using laser is connected with holder housing by screw, the power supply interface of zoom white light camera is connected with power supply by wire, the power supply interface of infrared camera is connected with power supply by wire, the power supply interface of range finder using laser is connected with power supply by wire, the data-interface of zoom white light camera is connected with integrated treatment unit by wire, the data-interface of infrared camera is connected with integrated treatment unit by wire, the data-interface of range finder using laser is connected with integrated treatment unit by wire.
Below, the workflow of the target acquisition of photoelectric detection equipment 9 is described with reference to Figure 10.
Figure 10 is the workflow diagram of the target acquisition (position sensing) of the photoelectric detection equipment 9 of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention.As shown in Figure 10, photoelectric detection equipment carries out target acquisition (aiming of burning things which may cause a fire disaster point) and mainly comprises the following steps:
The first step (optional): white light optical axis, infrared optical axis and laser beam axis calibration
Photoelectric detection equipment 9 may need to carry out white light optical axis before the use, infrared optical axis and laser beam axis calibration are (such as, when for a long time not using photoelectric detection equipment 9, when current base optical axis and above-mentioned three optical axises inconsistent, ), namely, infrared optical axis, the calibration (uniformity calibration) of the white light optical axis under laser beam axis and maximum amplification times yield, regulate zoom white light camera, infrared camera, the installation axis of range finder using laser, make the white light optical axis under maximum amplification times yield, the optical axis of infrared optical axis and laser beam axis holder housing datum level ± 20 " within, now think that above-mentioned three optical axises meet the requirement of property consistent with each other.After adjustment is complete, the mounting bracket of zoom white light camera, infrared camera, range finder using laser is fixed respectively on holder housing, and its optical axis consistent with each other is as benchmark optical axis.
Second step (optional): white light zoom optical axis deviation detects
Photoelectric detection equipment 9 may need to carry out white light zoom optical axis deviation before the use and detect (such as, when for a long time not using photoelectric detection equipment 9), namely, zoom adjustment is carried out to most high magnification successively from minimum enlargement ratio, detect the white light optical axis of zoom white light camera under different enlargement ratio relative to the white light optical axis (benchmark optical axis) under maximum amplification times yield departure (such as, current optical axis is in the misalignment angle in three directions relative to benchmark optical axis), and described departure is kept in data memory module.
3rd step: Power-On Self-Test and port arrangement (device initialize)
Photoelectric detection equipment 9 starts power supply, and to device power-on, zoom white light camera, infrared camera, range finder using laser, integrated treatment unit power up simultaneously.Function selftest module carries out self-inspection and initialization to zoom white light camera, infrared camera, range finder using laser and integrated treatment module, carries out the configuration of port communication state after initialization.
4th step: run-home and Zoom control
Utilize zoom white light camera, by photoelectric detection equipment 9 run-home (burning things which may cause a fire disaster).Particularly, utilize turret rotated photoelectric detection equipment 9, target is appeared in the visual field of zoom white light camera (be presented on the display screen of system), Zoom control module controls the enlargement ratio of zoom white light camera, will by run-home on a display screen (object ranging image center aims at the mark a little) placed in the middle, and, Height Adjustment be whole height on display screen 3/4 (also can be other ratio, as long as its complete display and meet definition and require).
5th step: optical axis compensation
Compensation data module is according to the current enlargement ratio of zoom white light camera (aim at and enlargement ratio) after Zoom control, and the optical axis deviation amount in reading data memory module, carries out compensation data.That is, according to the optical axis deviation amount under current enlargement ratio, fine setting photoelectric detection equipment 9 angle, make the white light optical axis under current enlargement ratio conform to benchmark optical axis (that is, object ranging view data compensate after new central point aim at the mark a little).
6th step (optional): image co-registration
Alternatively, when being obtained target image (making target appear in the visual field of infrared camera) by infrared camera, integrated dispatch module reads the image of the image after the aiming of zoom white light camera and Zoom control and infrared camera, then, image co-registration module carries out image co-registration process.Namely, by the Nonlinear magnify of infrared camera or be contracted to the enlargement ratio corresponding with the image after the aiming of zoom white light camera and Zoom control (make target sizes consistent in both images and simultaneously placed in the middle) and made by the mode of image cutting-out the transverse and longitudinal pixel count of two images that will merge consistent, and two image co-registration (can be realized by various method, such as, be averaging with pixel grey scale, etc.), obtain the image after merging.
7th step (optional): image comparison is selected
The image of image comparison module dialogue light video camera head, the image of infrared camera is (when obtaining target image by infrared camera, and carry out corresponding zooming in or out), or the definition of image (when obtaining target image by infrared camera) after above-mentioned fusion carries out contrasting (such as, image sharpness contrasts, can utilize and be realized by the image processing algorithm of image filtering projecting edge, the gradient that the pixel being positioned at each edge from image reflects is to judge the overall acutance of image), determine the image required for select target range finding.
8th step: laser ranging
Range finder using laser continuous several times (such as 5 times) carries out laser ranging, afterwards, after the distance that 5 times can be measured by integrated dispatch module removes maximum and minimum of a value, 3 data of the value that mediates are averaged, and using this mean value as target oblique distance.Thus complete sniffer to the search of target and measurement.
As shown in Figure 9, angle resolves module for resolving the ballistic solution angle (emission angle information) of fire extinguisher bomb.Compensation data module also plays axle deviation for recording and carries out compensation data.
Below, the workflow of the fire extinguisher bomb ballistic solution of the target acquisition of photoelectric detection equipment 9 is described with reference to Figure 10.
Figure 12 is the workflow diagram of the fire extinguisher bomb ballistic solution of the photoelectric detection equipment of the fire fighting truck being applicable to high level and high-rise building fire attack according to an embodiment of the invention.Particularly, after completing above-mentioned laser ranging, photoelectric detection equipment obtains the oblique line distance L of target burning things which may cause a fire disaster to fire extinguisher bomb, meanwhile, turret system to integrated dispatch module passback target relative to the pitching angle theta of capstan head and azimuth (such as, the azimuth at capstan head center can be taken as 0), photoelectric detection equipment carries out fire extinguisher bomb ballistic solution, solves the emission angle information of fire extinguisher bomb.
That is, module is resolved according to target oblique distance L and target pitch angle θ, azimuth of target , solve bullet and launch angle of pitch ψ fand azimuth firing angle , make bullet be ψ at launching elevation f, azimuth firing angle such as, time (when error allows, azimuth firing angle can be taken as the azimuth at capstan head center, 0), can hit.
The concrete steps of fire extinguisher bomb ballistic solution are as follows.
The first step (optional): the position of the fire extinguisher bomb of different chord position (for the chord position of 24 shown in Figure 11) is slightly different with axis, calibrate fire extinguisher bomb assembling each chord position of frame and the right position deviation of sniffer optical axis and upper-lower position deviation and course (orientation) angle of deviation and pitch deviation angle, and four deviation datas are recorded in compensation data module.
Second step: angle is resolved module and solved obtain the elevation information of target burning things which may cause a fire disaster relative to fire extinguisher bomb and the horizontal range of target range launch point according to the oblique line of target distance, the angle of pitch.Solution formula is as follows:
h0＝L×sinθ
d＝L×cosθ
In formula: θ is the angle of pitch of fire extinguisher bomb assembling frame, L is the oblique line distance of fire extinguisher bomb assembling frame to target, and h0 is the elevation information of target burning things which may cause a fire disaster relative to fire extinguisher bomb, and d is the horizontal range of target and launch point.
3rd step: angle is resolved module and solved and obtain fire extinguisher bomb impelling angle.
Angle resolve the dynamics of module foundation and kinematical equation as follows:
Dynamic differential equation
u · - v ω z 1 + w ω Y 1 = ( - mg sin φ cos ψ - C A q S M ) / m - - - ( 1 )
v · + u ω z 1 = [ mg ( sin φ sin ψ sin γ - cos φ cos γ ) - C N q S M cos φ ′ ] / m - - - ( 2 )
w · - u ω Y 1 = [ mg ( sin φ sin ψ sin γ + cos φ sin γ ) - C N q S M sin φ ′ ] / m - - - ( 3 )
J Y 1 ω · Y 1 = - C N q S M Δ l sin φ ′ + C ZY 1 q S M l ω Y 1 - - - ( 4 )
J Z 1 ω · Z 1 = C N q S M Δ l cos φ ′ + C ZZ 1 q S M l ω Z 1 - - - ( 5 )
The kinematics differential equation
X · = u cos φ cos ψ - v ( sin φ cos γ + cos φ sin ψ sin γ ) + w ( sin φ sin γ - cos φ sin ψ cos γ ) - - - ( 6 )
Y · = u sin φ cos ψ + v ( cos φ cos γ - sin φ sin ψ sin γ ) - w ( cos φ sin γ + sin φ sin ψ sin γ ) - - - ( 7 )
Z · = u sin ψ - v cos ψ sin γ + w cos ψ cos γ - - - ( 8 )
φ · = ( ω Y 1 sin γ + ω Z 1 cos γ ) / cos ψ - - - ( 9 )
ψ · = ω Z 1 sin γ - ω Y 1 cos γ - - - ( 10 )
γ · = - φ sin ψ · - - - ( 11 )
Utilize above-mentioned kinematics and dynamic differential equation, under being engraved in force and moment effect when calculating a certain, the increment of the main flight parameter of fire extinguisher bomb.In above-mentioned kinematics and dynamic differential equation, its input (known quantity) is the flight parameter of a certain moment fire extinguisher bomb, comprising: speed, trajectory tilt angle, trajectory deflection angle, yaw rate, rate of pitch, the angle of pitch, yaw angle, roll angle and fire extinguisher bomb position coordinates X, Y, Z in launching coordinate system.Export the increment (dx/dt) of above-mentioned 11 parameters of moment for this reason.Its main input/output argument is as shown in the table.
In addition, m is Shell body quality, and g is acceleration of gravity, and q is dynamic pressure, C afor axial force coefficient, S mfor area of reference, C nfor normal force coefficient, for the synthesis angle of attack, J y1for the rotary inertia around body Y-axis, J z1for the rotary inertia around body Z axis, C zY1=C zZ1for damping moment coefficient, l is for entirely to play reference length, and Δ l is the length that barycenter arrives the pressure heart.
With target pitch angle θ and launch a speed (constant, such as 160 meter per seconds), angular speed initial value (such as, 0) as the primary condition solving the above-mentioned differential equation, in conjunction with the aerodynamic parameter (constant of fire extinguisher bomb, be mainly axial force coefficient, normal force coefficient, center of pressure coefficient, damping moment coefficient is with the change of Mach number and the angle of attack), use the quadravalence Runge-Kutta numerical solution of ODE, above-mentioned equation is combined and solves, (namely reckoning obtains overall trajectory parameter, ballistic trajectory), i.e. u (t), v (t), w (t), ω y1(t), ω z1t (), X (t), Y (t), Z (t), φ (t), ψ (t), γ (t), wherein, t is the time of discretization.After having calculated the overall trajectory parameter under a certain trajectory angle of pitch φ, calculate be issued to d at a certain trajectory angle of pitch φ (initial value φ 0=θ) penetrate high H.
|H k-h0|≤0.01(12)
φ k+1＝φ k+0.5(H k-h0)θ(13)
Utilizing formula (12) to judge the magnitude relationship of H and object height h0, then stopping iteration, current angle of pitch φ as met (12) formula kbe the angle of departure; If do not met (12) formula, then use formula (13) to upgrade and launch the angle of pitch, recalculate overall trajectory parameter with described dynamics and the kinematics differential equation and penetrate high H k+1, wherein k is current iteration step number, until penetrate high H ktill being less than 0.01m with the difference of object height h0, angle of departure φ now kbe the final fire extinguisher bomb angle of departure.
That is, the initial angle of pitch φ 0 of iteration is target pitch angle θ, afterwards by comparison object X axis distance the ballistic ordinate H at (that is, horizontal range d) place and the relation of object height h0, constantly revising the transmitting angle of pitch can the result of hit finally to obtain.
4th step (optional): compensation data module carries out error compensation
Overall trajectory parameter is that position and azimuth reference calculating are determined with sniffer, accuse that computer eliminates fire extinguisher bomb due to the sticking position difference position of bringing and angle four deviation datas by compensating, thus determine the angle of pitch needed for the transmitting in certain unit.
So far, complete high-rise building fire extinguisher bomb ballistic solution, fire extinguisher bomb can be launched according to the angle of departure calculated.
Finally, for practical application, the workflow of the fire fighting truck being applicable to high-rise and high-rise building fire attack is according to an embodiment of the invention described, it comprises the following steps:
The first step: personnel are in place, vehicle launch sets out.
1) after receiving fire alarm, driver, operator is just being sitting in respectively, copilot station;
2) driver starts extinguishing vehicle, opens reverse image equipment, travels to fire place;
3) operator checks operating desk, guarantees action button all at initial position.
Second step: generating set starts, each device power-on self-inspection
1) operator rotates " unit starting " key to " START " position question generator group and starts successfully and unclamp key (key auto-returned " ON " position), and after working stability, " interchange indicates " lamp is bright;
2) operator's pressing " always power supply " button, generating set power supply exports;
3) operator's pressing " equipment is powered " button, first processor powers up the system of entering and self-inspection, after processor is normal, powers up automatically to successively sniffer, servosystem, level device;
4) operator checks " equipment state " hurdle in display interface, confirms that each device power-on self-inspection state is all " green ".
3rd step: select mode of operation, stop at solution space
1) operator when driving, rotating operation platform " mode of operation " knob, selects " fire-fighting " or " training " mode of operation;
2) operator is according to on-the-spot fire target height, and driver, according to operating personnel's instruction, observes reverse image, drives extinguishing vehicle temporary parking near fire place;
3) operator checks " leveling control " columns state, if the extinguishing vehicle parking spot gradient exceedes ± 1 ° time, " leveling control " hurdle indicator lamp " red green " be flicker alternately, driver reselects place and stops, until " leveling control " hurdle indicator lamp stops flicker, " recovery " indicator lamp is green;
4) driver controls extinguishing vehicle parking, and driver gets off and is responsible for observing extinguishing vehicle emission security apart from interior situation, and links up in time with operator.
4th step: leveling launches, aims at fire target
1) operator's rotating operation platform " leveling control " knob is to " expansion " position, extinguishing vehicle automatic leveling launches, " expansion " indicator lamp flicker in leveling process, after leveling completes, operating desk " expansion " indicator lamp is bright, and display interface " leveling control " hurdle " expansion " lamp becomes " green ";
2) launching rotary tower turns unblock;
3) operator's control operation platform handle, observe display interface image, be switched to " imaging pattern " (viewfinder image of display screen display white light camera), control launching rotary tower is turned, display interface "+" is aimed at fire target, now " current angular " hurdle display launching rotary tower current location angle.
5th step: measurement target position, firing data's (that is, emission angle) resolves
1), when directly can use range finder using laser Measurement accuracy target range, fire target location parameter measured by the button on operator's joystick, " target location " hurdle display-object " distance " and " highly " data;
2) cannot directly with range finder using laser Measurement accuracy target range when (namely, take aim at A and beat B), actual fire point is B point, because B point is without when meeting range finder using laser required precision, the A point aimed near B point is adopted to find range, according to the change in location between A, B 2, A point range data is transformed into B point range data, and then calculates firing data's data of B point.
3) command & control device is according to target data, Automatic solution firing data, judges calculation result whether effectively (azimuth, the angle of pitch whether in limited range) simultaneously, shows effective calculation result in " emission angle " hurdle.
6th step: emission mode is selected, launch insurance unlocks
1) operator selects operating desk " emission mode ", " manually " or " automatically " pattern;
2) operator's rotating operation platform " launch insurance " key, to " unblock " position, starts recording of video;
3) operator and the outer driver of car keep in touch, and confirm to enter without personnel in emission security region.
7th step: turn launching rotary tower, launches fire extinguisher bomb
1) when operator selects " emission mode " to be " automatically ", " firing button " indicator lamp possessing launching condition is bright, operator presses " firing button " for launching corresponding to fire extinguisher bomb, the calculation result that processor is corresponding according to this fire extinguisher bomb, automatic control launching rotary tower is turned to objective emission angle, it is bright that operating desk " allows to launch " indicator lamp, launches fire extinguisher bomb;
2) when operator selects " emission mode " to be " manually ", " allow to launch " indicator lamp first to extinguish, launching rotary tower is turned to emission angle by operator first control operation platform handle, namely " current angular " column number value and " emission angle " column number value are within the scope of certain error, now " allow to launch " indicator lamp bright, " firing button " indicator lamp possessing launching condition is bright, and operator presses " firing button ", launches fire extinguisher bomb.
8th step: fire extinguisher bomb is launched
1) launch control equipment provides igniting clock signal;
2) clock signal of lighting a fire is delivered to launching tube igniter by module cable box;
3) launching tube propellant powder igniting, the certain initial velocity of fire extinguisher bomb launches cylinder
9th step: time delay gunpowder self-destruction timing starts
1) self-destruction time delay is started under the effect that time delay gunpowder transships in launching shock.After delay time arrives, time delay gunpowder controls fire extinguisher bomb parachute-opening and spraying fire-extinguishing agent action simultaneously, fire extinguisher bomb self-destruction.
Tenth step: fuze actuation work
High-rise fire mainly contains fire in three kinds of situation rooms, alien invasion is fiery, fiery within the walls, and emphasis considers indoor fire of putting out a fire to save life and property herein, and the workflow of fuse is described.
Wherein, the tenth step fuze actuation work is divided into two small steps:
10-1 step, fuse insurance are removed, function on
1) fuze detection is to close to target
2) fuse machine insurance unlocks
3), under the effect that fuse transships in launching shock, machine insurance inertia unlocks, and firing circuit becomes off-state from short circuit state;
4) insurance unblock far separated by fuse
5), after the retardation time of fuse set time, far separate insurance (electricity insurance) and unlock, fuse is in arm-to-arm;
6) fuze self-destroying timing starts
7) fuze circuit work, start self-destruction time delay, fuse, time delay gunpowder and fire extinguisher bomb main charge are connected in parallel, and improve fire extinguisher bomb self-destruction reliability.After delay time arrives, the parachute-opening of fuze control fire extinguisher bomb and spraying fire-extinguishing agent action simultaneously, fire extinguisher bomb self-destruction.
10-2 walks: fuse triggers
Fuse or time delay gunpowder provide ignition signal, and spraying fire-extinguishing agent while that fire extinguisher bomb receiving after ignition signal, release a parachute deceleration.
The various functions of fuse arranges as follows:
1) nearly fried Trigger Function mainly applied by fuse;
2) fuse touches fried function as supplementing after nearly fried disabler, timely spraying fire-extinguishing agent fire extinguishing after guaranteeing fire extinguisher bomb arrival conflagration area;
3) fuze self-destroying function be when fire extinguisher bomb depart from trajectory meet closely explode, touch fried trigger condition or closely explode, touch fried function lost efficacy simultaneously, timed and forcedly provide ignition signal, avoid fire extinguisher bomb to carry priming system freely to land, personnel and equipment are worked the mischief or residual priming system on fire extinguisher bomb, cause and reclaim danger.
11 step: fire extinguisher bomb action
1) fire extinguisher bomb drag parachute completes inflating appliance for deceleration conditions before fire extinguisher bomb enters indoor, and fire extinguisher bomb can not have an impact to fire extinguisher bomb trajectory entering indoor front reduction gear umbrella;
2) after fire extinguisher bomb enters indoor, drag parachute draws fire extinguisher bomb to slow down, and after making fire extinguisher bomb clash into metope, fire extinguisher bomb does not disintegrate, and body of wall is not penetrated;
3) fire extinguisher bomb continues spraying fire-extinguishing agent in drag parachute course of action, and drag parachute accounts at inflationtime and is not more than 30% with fire extinguisher bomb spraying fire-extinguishing agent total time.
12 step: the self-destruction of time delay gunpowder triggers
1) time delay gunpowder self-destroying function is identical with fuze self-destroying function, but both independently install, and does not interfere with each other.Object improves the safety in utilization of fire extinguisher bomb in operation irregularity situation.Meanwhile, also can be used for fire extinguisher bomb enter indoor Fuze Failure after supplementary fire-extinguishing function concurrently.
2) fire extinguisher bomb produces 3000g overload after launching, and time delay gunpowder starts triggering timing automatically, after time delay gunpowder time delay 8s, forces to provide self-destruction ignition signal.
The time delay gunpowder self-destruction course of work is as follows:
After fire extinguisher bomb is launched, time delay gunpowder self-destruction time delay starts timing 8s automatically;
After time delay gunpowder self-destruction time delay timing time arrives, automatic forced provides self-destruction ignition signal;
After fire extinguisher bomb receives ignition signal, trigger payload section and safe braking section work, payload section spraying fire-extinguishing agent, safe braking section releases a parachute simultaneously.
13 step: system removes receipts, device powers down
1) operator's rotating operation platform " launch insurance " key is to " locking " position, and " launch and allow " lamp extinguishes, and stops recording of video;
2) operator's rotating operation platform " leveling control " knob is to " recovery " position, system starts to remove receipts, automatically by launching rotary tower Hui Ping, (orientation angles is 0 ° to system, luffing angle is 0 °), then four leveling supporting legs are reclaimed to initial position, " recovery " lamp glimmers, and after putting in place, " recovery " lamp is lighted;
3) operator's rotating operation platform " mode of operation " knob is to " training " state;
4) operator's pressing operation platform " equipment is powered " button, first processor cuts out subsystem device power supply (DPS), then closing information processor power supply;
5) operator's pressing operation platform " always power supply " button, shutdown system power supply;
6) operator's rotating operation platform " unit starting " key is to " OFF " position, closes generating set, and " interchange indicator lamp " extinguishes;
14 step: vehicle returns flame-out, personnel get off
1) driver gets on the bus to position of driver, starts extinguishing vehicle and returns to guard station;
2) driver closes reverse image equipment, closes extinguishing vehicle engine;
3) driver, operator gets off.

Claims (10)

1. one kind is applicable to fire fighting truck that is high-rise and high-rise building fire attack, comprise: carry chassis (1), accuse equipment (2), launching control equipment (3), equipment compartment (4), emitter (5), casting device (6), fire extinguisher bomb (7), capstan head control device (8), photoelectric detection equipment (9)
Wherein, launching control equipment (3) is made up of control executive module (3-1) and fire extinguisher bomb simulator (3-2), wherein, send out control executive module (3-1) and control instruction is sent to emitter (5), receive the instruction from processor, and complete the emission control task of fire extinguisher bomb, fire extinguisher bomb simulator (3-2) used for the extinguishing vehicle training stage, be used for simulation fire extinguisher bomb signal in place and fire extinguisher bomb launch from frame signal
Wherein, charge equipment (2), launching control equipment (3) are placed in the copilot station of the driver's cabin carrying chassis (1),
Be bolted to and carry on chassis (1) after equipment compartment (4) is placed in driver's cabin,
Emitter (5) is placed in a year chassis (1) and goes up and be screwed,
Casting device (6) is placed in emitter (5) and goes up and fix,
Fire extinguisher bomb (7) is placed in casting device (6),
Capstan head control device (8) is distributed in and carries on chassis and emitter, for completing car body leveling and controlling emitter action,
Photoelectric detection equipment (9) is placed in emitter (5) below and is screwed,
Wherein, photoelectric detection equipment (9) comprising: holder housing, power supply, zoom white light camera, infrared camera, range finder using laser, integrated treatment unit,
Zoom white light camera is connected with holder housing by screw, infrared camera is connected with holder housing by screw, range finder using laser is connected with holder housing by screw, the power supply interface of zoom white light camera is connected with power supply by wire, the power supply interface of infrared camera is connected with power supply by wire, the power supply interface of range finder using laser is connected with power supply by wire, the data-interface of zoom white light camera is connected with integrated treatment unit by wire, the data-interface of infrared camera is connected with integrated treatment unit by wire, the data-interface of range finder using laser is connected with integrated treatment unit by wire.
2. the fire fighting truck being applicable to high level and high-rise building fire attack according to claim 1, wherein, integrated treatment unit comprises integrated dispatch module, data memory module, Zoom control module, compensation data module,
Wherein, before fire attack, photoelectric detection equipment (9) is used for carrying out fire source probing, comprises the following steps:
Utilize zoom white light camera, photoelectric detection equipment (9) is aimed at the burning things which may cause a fire disaster as target, wherein, utilize turret rotated photoelectric detection equipment (9), target is appeared in the visual field of zoom white light camera also show on a display screen, Zoom control module controls the enlargement ratio of zoom white light camera, will be placed in the middle on a display screen by run-home, and complete display;
Compensation data module is according to the current enlargement ratio of zoom white light camera, read in the optical axis deviation amount stored in data memory module, carry out compensation data, wherein, according to the optical axis deviation amount under current enlargement ratio, the angle of fine setting photoelectric detection equipment (9), makes the white light optical axis under current enlargement ratio conform to benchmark optical axis;
Range finder using laser continuous several times carries out laser ranging, and the distance of repetitive measurement is averaged by integrated dispatch module, and using this mean value as target oblique distance, thus complete sniffer to the search of target and measurement.
3. the fire fighting truck being applicable to high level and high-rise building fire attack according to claim 2, wherein, before described photoelectric detection equipment (9) carries out fire source probing, is also used for carrying out following steps:
When current base optical axis and above-mentioned three optical axises inconsistent, carry out the optical axis calibration of the optical axis of zoom white light camera, the optical axis of infrared camera and range finder using laser, the optical axis of infrared camera, the optical axis of range finder using laser is consistent with the adjustment of the optical axis of the zoom white light camera under maximum amplification times yield, and its optical axis consistent with each other is as the benchmark optical axis after adjustment;
Carry out white light zoom optical axis deviation to detect, wherein, zoom adjustment is carried out to most high magnification successively from minimum enlargement ratio, detect the optical axis deviation amount of the white light optical axis of zoom white light camera under different enlargement ratio relative to benchmark optical axis, and described optical axis deviation amount is kept in data memory module.
4. the fire fighting truck being applicable to high level and high-rise building fire attack according to claim 3, wherein, described integrated treatment unit also comprises function selftest module, and before carrying out fire source probing, described photoelectric detection equipment (9) is also used for carrying out following steps:
Start power supply, to device power-on, zoom white light camera, infrared camera, range finder using laser, integrated treatment unit power up simultaneously, function selftest module carries out self-inspection and initialization to zoom white light camera, infrared camera, range finder using laser and integrated treatment module, carries out the configuration of port communication state after initialization.
5. the fire fighting truck being applicable to high level and high-rise building fire attack according to claim 2, wherein, described integrated treatment unit also comprises image co-registration module, and it is further comprising the steps of that described photoelectric detection equipment (9) carries out fire source probing:
When obtaining target image by infrared camera, integrated dispatch module reads the image of the image after the aiming of zoom white light camera and Zoom control and infrared camera,
Then, image co-registration module carries out image co-registration process, wherein, by the Nonlinear magnify of infrared camera or be contracted to the enlargement ratio corresponding with the image after the aiming of zoom white light camera and Zoom control and made by the mode of image cutting-out the transverse and longitudinal pixel count of two images that will merge consistent, and by two image co-registration, obtain the image after merging
Wherein, described integrated treatment unit also comprises image comparison module, and it is further comprising the steps of that described photoelectric detection equipment (9) carries out fire source probing:
The acutance of the image after the image of image comparison module dialogue light video camera head, the image of infrared camera and/or above-mentioned fusion contrasts, and determines the image that acutance is the highest, as the image required for object ranging.
6. the fire fighting truck being applicable to high level and high-rise building fire attack according to claim 1, wherein, capstan head control device (8) is made up of capstan head servosystem and car body level device, capstan head servosystem comprises computer for controlling, servo control division equipments, azimuth-drive motor, pitching electric cylinder, orientation read assembly, pitching read assembly, azimuth servomechanism, floating bearing, computer for controlling is provided with servo control module, orientation read assembly and azimuth servomechanism all engage with the external tooth of floating bearing
Wherein, car body level device comprises leveling executing agency, leveling Control Component, horizontal angle measurement assembly, and leveling control module is installed, wherein, four analog line drivers and computer for controlling are integrated in leveling and control in rack, leveling controls rack and is arranged in the middle of equipment control cabinet, two horizon sensors feed back the levelness of car body in the leveling process of extinguishing vehicle, a horizon sensor is main horizon sensor, cross-car and vertical equity degree are as the criterion with this horizon sensor reading, be arranged on the installed surface on chassis revolution gudgeon crossbeam, another horizon sensor is auxiliary horizon sensor, be arranged on front leveling cyclinder crossbeam, in leveling process, the transverse horizontal degree in feedback headstock direction.
7. the fire fighting truck being applicable to high level and high-rise building fire attack according to claim 2, wherein, described integrated treatment unit also comprises angle and resolves module, and wherein, described angle resolves module for resolving the emission angle information of fire extinguisher bomb,
Wherein, after completing described laser ranging, photoelectric detection equipment (9) obtains the oblique line distance L of target burning things which may cause a fire disaster to fire extinguisher bomb, simultaneously, turret system returns the pitching angle theta of target relative to capstan head to integrated dispatch module, photoelectric detection equipment (9) carries out fire extinguisher bomb ballistic solution, solves the emission angle information of fire extinguisher bomb
Wherein, the emission angle information that photoelectric detection equipment (9) resolves fire extinguisher bomb comprises the following steps:
Angle resolve module according to following dynamics and the kinematics differential equation as follows:
Dynamic differential equation
u · - vω z 1 + wω Y 1 = ( - m g sin φ c o s ψ - C A qS M ) / m - - - ( 1 )
v · + uω z 1 = [ m g ( sin φ sin ψ sin γ - c o s φ c o s γ ) - C N qS M cosφ ′ ] / m - - - ( 2 )
w · - uω Y 1 = [ m g ( sin φ sin ψ c o s γ + c o s φ sin γ ) - C N qS M sinφ ′ ] / m - - - ( 3 )
J Y 1 ω · Y 1 = - C N qS M Δlsinφ ′ + C Z Y 1 qS M lω Y 1 - - - ( 4 )
J Z 1 ω · Z 1 = C N qS M Δlcosφ ′ + C Z Z 1 qS M lω Z 1 - - - ( 5 )
The kinematics differential equation
X · = u c o s φ c o s ψ - v ( s i n φ c o s γ + c o s φ sin ψ sin γ ) + w ( sin φ sin γ - c o s φ s i n ψ c o s γ ) - - - ( 6 )
Y · = u sin φ c o s ψ + v ( c o s φ c o s γ - sin φ s i n ψ s i n γ ) - w ( c o s φ s i n γ + sin φ sin ψ s i n γ ) - - - ( 7 )
Z · = u s i n ψ - v c o s ψ sin γ + w c o s ψ c o s γ - - - ( 8 )
φ · = ( ω Y 1 s i n γ + ω Z 1 c o s γ ) / c o s ψ - - - ( 9 )
ψ · = ω Z 1 s i n γ - ω Y 1 c o s γ - - - ( 10 )
γ · = - φ · s i n ψ - - - ( 11 )
In above-mentioned kinematics and dynamic differential equation, its input and output are as shown in the table
Wherein, m is Shell body quality, and g is acceleration of gravity, and q is dynamic pressure, C afor axial force coefficient, S mfor fire extinguisher bomb area of reference, C nfor normal force coefficient, φ ' is the synthesis angle of attack, J y1for the rotary inertia around body Y-axis, J z1for the rotary inertia around body Z axis, C zY1=C zZ1for damping moment coefficient, l is fire extinguisher bomb reference length, and Δ l is the length of fire extinguisher bomb barycenter to the pressure heart,
Use the quadravalence Runge-Kutta numerical solution of ODE, above-mentioned equation is combined and solves, calculate and obtain overall trajectory parameter u (t), v (t), w (t), ω y1(t), ω z1t (), X (t), Y (t), Z (t), φ (t), ψ (t), γ (t), wherein, t is the time of discretization.
8. the fire fighting truck being applicable to high level and high-rise building fire attack according to claim 7, wherein, angle is resolved module and is also used for carrying out following steps:
Solve according to the oblique line distance L of target, target the height h0 of burning things which may cause a fire disaster relative to fire extinguisher bomb and the horizontal range d of target range launch point that obtain as target relative to the pitching angle theta of capstan head, according to formula as follows:
h0＝L×sinθ
d＝L×cosθ
After having calculated the overall trajectory parameter under a certain trajectory angle of pitch φ, calculate be issued to horizontal range d at a certain trajectory angle of pitch φ penetrate high H, wherein initial value φ 0=θ, as follows:
|H k-h0|≤0.01(12)
φ k+1＝φ k+0.5(H k-h0)θ(13)
Utilizing formula (12) to judge the magnitude relationship of H and object height h0, then stopping iteration, current angle of pitch φ as met (12) formula kbe final fire extinguisher bomb and launch the angle of pitch; If do not met (12) formula, then use formula (13) to upgrade and launch the angle of pitch, recalculate overall trajectory parameter with described dynamics and the kinematics differential equation and penetrate high H k+1, wherein k is current iteration step number, until penetrate high H ktill meeting (12) formula with object height h0, angle of departure φ now kbe the final fire extinguisher bomb pitching angle of departure.
9. the fire fighting truck being applicable to high level and high-rise building fire attack according to claim 1, wherein, fire extinguisher bomb (7) comprising: housing (7-4), fuse (7-6), igniter (7-3), extinguishing chemical (7-9), main charge (7-10), empennage braking section (7-1), combustion chamber (7-8), grate (7-2), piston (7-7), radome fairing (7-5)
Housing (7-4), empennage braking section (7-1) and piston (7-7) are lightweight metal material, housing (7-4) is cylindric, empennage braking section (7-1) is placed in housing (7-4) bottom and is screwed with housing (7-4), grate (7-2) is placed in empennage braking section (7-1) top, combustion chamber (7-8) is placed in grate (7-2) top and fixes with grate (7-2) screw thread, combustion chamber (7-8) and housing (7-4) are screwed, piston (7-7) is placed on combustion chamber (7-8), the external diameter of piston (7-7) and the internal diameter of housing (7-4) match, there is through hole at piston (7-7) center, igniter (7-3) is placed in the through hole of piston (7-7) and fixes with combustion chamber (7-8) screw thread, main charge (7-10) is placed in combustion chamber (7-8), extinguishing chemical (7-9) is placed in the cavity on piston (7-7) top and is full of whole cavity, radome fairing (7-5) is placed in housing (7-4) top and fixes with pin with housing (7-4), there is spray hole on the surface of radome fairing (7-5), fuse (7-6) is placed in radome fairing (7-5) and goes up and be screwed,
During fire extinguisher bomb (7) work, when fuse (7-6) detects fire extinguisher bomb from burning things which may cause a fire disaster 5 ~ 10 meters, ignition signal is passed to igniter (7-3), main charge (7-10) in igniter (7-3) ignition combustion room (7-8), main charge (7-10) burning produces high pressure, pushed at high pressure piston (7-7) is motion in housing (7-4), extruding extinguishing chemical (7-9) makes the pin connected between radome fairing (7-5) and housing (7-4) be cut off, extinguishing chemical (7-9) continues to promote radome fairing (7-5) and travels forward, radome fairing (7-5) is to housing (7-4) front braking, at this moment spray hole has exposed in atmosphere, and now piston (7-7) continuation promotion extinguishing chemical (7-9) travels forward, extinguishing chemical (7-9) sprays out from spray hole, jump on burning things which may cause a fire disaster, play fire extinguishing function, in the flight sprinkling process of fire extinguisher bomb (7), empennage braking section (7-1) releases a parachute, fire extinguisher bomb (7) is slowed down, fire extinguisher bomb (7) penetrates glass curtain wall, go deep into implementing fire extinguishing in building.
10. the fire fighting truck being applicable to high level and high-rise building fire attack according to claim 1, wherein, equipment compartment (4) inside comprises generating set (4-1), for power distribution cabinet (4-2), Servocontrol device (4-3), equipment compartment (4) outside is provided with communication antenna
Wherein, emitter (5) is made up of launching rotary tower (5-1), laugnching lug (5-2), module assembled frame (5-3), and cable is walked at the inside configuration center of launching rotary tower (5-1),
Laugnching lug (5-2) is for supporting module assembling frame, orientation when there is rapid reloading module assembled frame (5-3) and launch, laugnching lug (5-2) not only realizes the locking and unlocking of module assembled frame (5-3), also coordinate the determination of initial directive with the leg on module assembled frame (5-3)
Wherein, casting device (6) comprises impelling cylinder, power set, balanced body, and fire extinguisher bomb, power set and balanced body are placed in impelling cylinder inside.
CN201380004041.1A 2013-07-16 2013-07-16 Be applicable to fire fighting truck that is high-rise and high-rise building fire attack Active CN103958004B (en)

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